/*************************************************************************/
/*  collision_solver_2d_sat.cpp                                          */
/*************************************************************************/
/*                       This file is part of:                           */
/*                           GODOT ENGINE                                */
/*                    http://www.godotengine.org                         */
/*************************************************************************/
/* Copyright (c) 2007-2017 Juan Linietsky, Ariel Manzur.                 */
/*                                                                       */
/* Permission is hereby granted, free of charge, to any person obtaining */
/* a copy of this software and associated documentation files (the       */
/* "Software"), to deal in the Software without restriction, including   */
/* without limitation the rights to use, copy, modify, merge, publish,   */
/* distribute, sublicense, and/or sell copies of the Software, and to    */
/* permit persons to whom the Software is furnished to do so, subject to */
/* the following conditions:                                             */
/*                                                                       */
/* The above copyright notice and this permission notice shall be        */
/* included in all copies or substantial portions of the Software.       */
/*                                                                       */
/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,       */
/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF    */
/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY  */
/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,  */
/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE     */
/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
/*************************************************************************/
#include "collision_solver_2d_sat.h"
#include "geometry.h"

struct _CollectorCallback2D {

	CollisionSolver2DSW::CallbackResult callback;
	void *userdata;
	bool swap;
	bool collided;
	Vector2 normal;
	Vector2 *sep_axis;

	_FORCE_INLINE_ void call(const Vector2& p_point_A, const Vector2& p_point_B) {

		//if (normal.dot(p_point_A) >= normal.dot(p_point_B))
		// return;
		if (swap)
			callback(p_point_B,p_point_A,userdata);
		else
			callback(p_point_A,p_point_B,userdata);
	}

};

typedef void (*GenerateContactsFunc)(const Vector2 *,int, const Vector2 *,int ,_CollectorCallback2D *);


_FORCE_INLINE_ static void _generate_contacts_point_point(const Vector2 * p_points_A,int p_point_count_A, const Vector2 * p_points_B,int p_point_count_B,_CollectorCallback2D *p_collector) {

#ifdef DEBUG_ENABLED
	ERR_FAIL_COND( p_point_count_A != 1 );
	ERR_FAIL_COND( p_point_count_B != 1 );
#endif

	p_collector->call(*p_points_A,*p_points_B);
}

_FORCE_INLINE_ static void _generate_contacts_point_edge(const Vector2 * p_points_A,int p_point_count_A, const Vector2 * p_points_B,int p_point_count_B,_CollectorCallback2D *p_collector) {

#ifdef DEBUG_ENABLED
	ERR_FAIL_COND( p_point_count_A != 1 );
	ERR_FAIL_COND( p_point_count_B != 2 );
#endif

	Vector2 closest_B = Geometry::get_closest_point_to_segment_uncapped_2d(*p_points_A, p_points_B );
	p_collector->call(*p_points_A,closest_B);

}


struct _generate_contacts_Pair {
	bool a;
	int idx;
	float d;
	_FORCE_INLINE_ bool operator <(const _generate_contacts_Pair& l) const { return d< l.d; }
};

_FORCE_INLINE_ static void _generate_contacts_edge_edge(const Vector2 * p_points_A,int p_point_count_A, const Vector2 * p_points_B,int p_point_count_B,_CollectorCallback2D *p_collector) {

#ifdef DEBUG_ENABLED
	ERR_FAIL_COND( p_point_count_A != 2 );
	ERR_FAIL_COND( p_point_count_B != 2 ); // circle is actually a 4x3 matrix
#endif

# if 0
	Vector2 rel_A=p_points_A[1]-p_points_A[0];
	Vector2 rel_B=p_points_B[1]-p_points_B[0];

	Vector2 t = p_collector->normal.tangent();

	print_line("tangent: "+t);

	real_t dA[2]={t.dot(p_points_A[0]),t.dot(p_points_A[1])};
	Vector2 pA[2]={p_points_A[0],p_points_A[1]};

	if (dA[0]>dA[1]) {
		SWAP(dA[0],dA[1]);
		SWAP(pA[0],pA[1]);
	}

	float dB[2]={t.dot(p_points_B[0]),t.dot(p_points_B[1])};
	Vector2 pB[2]={p_points_B[0],p_points_B[1]};
	if (dB[0]>dB[1]) {
		SWAP(dB[0],dB[1]);
		SWAP(pB[0],pB[1]);
	}


	if (dA[0]<dB[0]) {

		Vector2 n = (p_points_A[1]-p_points_A[0]).normalized().tangent();
		real_t d = n.dot(p_points_A[1]);

		if (dA[1]>dB[1]) {
			//A contains B
			for(int i=0;i<2;i++) {

				Vector2 b = p_points_B[i];
				Vector2 a = n.plane_project(d,b);
				if (p_collector->normal.dot(a) > p_collector->normal.dot(b)-CMP_EPSILON)
					continue;
				p_collector->call(a,b);

			}
		} else {

			// B0,A1 containment

			Vector2 n_B = (p_points_B[1]-p_points_B[0]).normalized().tangent();
			real_t d_B = n_B.dot(p_points_B[1]);

			// first, B on A

			{
				Vector2 b = p_points_B[0];
				Vector2 a = n.plane_project(d,b);
				if (p_collector->normal.dot(a) < p_collector->normal.dot(b)-CMP_EPSILON)
					p_collector->call(a,b);
			}

			// second, A on B

			{
				Vector2 a = p_points_A[1];
				Vector2 b = n_B.plane_project(d_B,a);
				if (p_collector->normal.dot(a) < p_collector->normal.dot(b)-CMP_EPSILON)
					p_collector->call(a,b);
			}



		}


	} else {

		Vector2 n = (p_points_B[1]-p_points_B[0]).normalized().tangent();
		real_t d = n.dot(p_points_B[1]);

		if (dB[1]>dA[1]) {
			//B contains A
			for(int i=0;i<2;i++) {

				Vector2 a = p_points_A[i];
				Vector2 b = n.plane_project(d,a);
				if (p_collector->normal.dot(a) > p_collector->normal.dot(b)-CMP_EPSILON)
					continue;
				p_collector->call(a,b);
			}
		} else {

			// A0,B1 containment
			Vector2 n_A = (p_points_A[1]-p_points_A[0]).normalized().tangent();
			real_t d_A = n_A.dot(p_points_A[1]);

			// first A on B

			{
				Vector2 a = p_points_A[0];
				Vector2 b = n.plane_project(d,a);
				if (p_collector->normal.dot(a) < p_collector->normal.dot(b)-CMP_EPSILON)
					p_collector->call(a,b);

			}

			//second, B on A

			{

				Vector2 b = p_points_B[1];
				Vector2 a = n_A.plane_project(d_A,b);
				if (p_collector->normal.dot(a) < p_collector->normal.dot(b)-CMP_EPSILON)
					p_collector->call(a,b);
			}

		}
	}

#endif

#if 1




	Vector2 n = p_collector->normal;
	Vector2 t = n.tangent();
	real_t dA = n.dot(p_points_A[0]);
	real_t dB = n.dot(p_points_B[0]);

	_generate_contacts_Pair dvec[4];

	dvec[0].d=t.dot(p_points_A[0]);
	dvec[0].a=true;
	dvec[0].idx=0;
	dvec[1].d=t.dot(p_points_A[1]);
	dvec[1].a=true;
	dvec[1].idx=1;
	dvec[2].d=t.dot(p_points_B[0]);
	dvec[2].a=false;
	dvec[2].idx=0;
	dvec[3].d=t.dot(p_points_B[1]);
	dvec[3].a=false;
	dvec[3].idx=1;

	SortArray<_generate_contacts_Pair> sa;
	sa.sort(dvec,4);

	for(int i=1;i<=2;i++) {

		if (dvec[i].a) {
			Vector2 a = p_points_A[dvec[i].idx];
			Vector2 b = n.plane_project(dB,a);
			if (n.dot(a) > n.dot(b)-CMP_EPSILON)
				continue;
			p_collector->call(a,b);
		} else {
			Vector2 b = p_points_B[dvec[i].idx];
			Vector2 a = n.plane_project(dA,b);
			if (n.dot(a) > n.dot(b)-CMP_EPSILON)
				continue;
			p_collector->call(a,b);
		}
	}



#elif 0
	Vector2 axis = rel_A.normalized(); //make an axis
	Vector2 axis_B = rel_B.normalized();
	if (axis.dot(axis_B)<0)
		axis_B=-axis_B;
	axis=(axis+axis_B)*0.5;
	Vector2 base_A = p_points_A[0] - axis * axis.dot(p_points_A[0]);
	Vector2 base_B = p_points_B[0] - axis * axis.dot(p_points_B[0]);

	//sort all 4 points in axis
	float dvec[4]={ axis.dot(p_points_A[0]), axis.dot(p_points_A[1]), axis.dot(p_points_B[0]), axis.dot(p_points_B[1]) };

	//todo , find max/min and then use 2 central points
	SortArray<float> sa;
	sa.sort(dvec,4);

	//use the middle ones as contacts
	for (int i=1;i<=2;i++) {

		Vector2 a = base_A+axis*dvec[i];
		Vector2 b = base_B+axis*dvec[i];
		if (p_collector->normal.dot(a) > p_collector->normal.dot(b)-0.01) {
			print_line("fail a: "+a);
			print_line("fail b: "+b);
			continue;
		}
		print_line("res a: "+a);
		print_line("res b: "+b);
		p_collector->call(a,b);
	}
#endif
}

static void _generate_contacts_from_supports(const Vector2 * p_points_A,int p_point_count_A, const Vector2 * p_points_B,int p_point_count_B,_CollectorCallback2D *p_collector) {


#ifdef DEBUG_ENABLED
	ERR_FAIL_COND( p_point_count_A <1 );
	ERR_FAIL_COND( p_point_count_B <1 );
#endif


	static const GenerateContactsFunc generate_contacts_func_table[2][2]={
		{
			_generate_contacts_point_point,
			_generate_contacts_point_edge,
		},{
			0,
			_generate_contacts_edge_edge,
		}
	};

	int pointcount_B;
	int pointcount_A;
	const Vector2 *points_A;
	const Vector2 *points_B;

	if (p_point_count_A > p_point_count_B) {
		//swap
		p_collector->swap = !p_collector->swap;
		p_collector->normal = -p_collector->normal;

		pointcount_B = p_point_count_A;
		pointcount_A = p_point_count_B;
		points_A=p_points_B;
		points_B=p_points_A;
	} else {

		pointcount_B = p_point_count_B;
		pointcount_A = p_point_count_A;
		points_A=p_points_A;
		points_B=p_points_B;
	}

	int version_A = (pointcount_A > 3 ?  3 : pointcount_A) -1;
	int version_B = (pointcount_B > 3 ?  3 : pointcount_B) -1;

	GenerateContactsFunc contacts_func = generate_contacts_func_table[version_A][version_B];
	ERR_FAIL_COND(!contacts_func);
	contacts_func(points_A,pointcount_A,points_B,pointcount_B,p_collector);

}



template<class ShapeA, class ShapeB,bool castA=false,bool castB=false, bool withMargin=false>
class SeparatorAxisTest2D {

	const ShapeA *shape_A;
	const ShapeB *shape_B;
	const Matrix32 *transform_A;
	const Matrix32 *transform_B;
	real_t best_depth;
	Vector2 best_axis;
	int best_axis_count;
	int best_axis_index;
	Vector2 motion_A;
	Vector2 motion_B;
	real_t margin_A;
	real_t margin_B;
	_CollectorCallback2D *callback;

public:

	_FORCE_INLINE_ bool test_previous_axis() {

		if (callback && callback->sep_axis && *callback->sep_axis!=Vector2()) {
			return test_axis(*callback->sep_axis);
		} else {
#ifdef DEBUG_ENABLED
			best_axis_count++;
#endif

		}
		return true;
	}

	_FORCE_INLINE_ bool test_cast() {

		if (castA) {

			Vector2 na = motion_A.normalized();
			if (!test_axis(na))
				return false;
			if (!test_axis(na.tangent()))
				return false;
		}

		if (castB) {

			Vector2 nb = motion_B.normalized();
			if (!test_axis(nb))
				return false;
			if (!test_axis(nb.tangent()))
				return false;
		}

		return true;
	}

	_FORCE_INLINE_ bool test_axis(const Vector2& p_axis) {

		Vector2 axis=p_axis;


		if (	Math::abs(axis.x)<CMP_EPSILON &&
			Math::abs(axis.y)<CMP_EPSILON) {
			// strange case, try an upwards separator
			axis=Vector2(0.0,1.0);
		}

		real_t min_A,max_A,min_B,max_B;

		if (castA)
			shape_A->project_range_cast(motion_A,axis,*transform_A,min_A,max_A);
		else
			shape_A->project_range(axis,*transform_A,min_A,max_A);

		if (castB)
			shape_B->project_range_cast(motion_B,axis,*transform_B,min_B,max_B);
		else
			shape_B->project_range(axis,*transform_B,min_B,max_B);

		if (withMargin) {
			min_A-=margin_A;
			max_A+=margin_A;
			min_B-=margin_B;
			max_B+=margin_B;
		}

		min_B -= ( max_A - min_A ) * 0.5;
		max_B += ( max_A - min_A ) * 0.5;

		real_t dmin = min_B - ( min_A + max_A ) * 0.5;
		real_t dmax = max_B - ( min_A + max_A ) * 0.5;

		if (dmin > 0.0 || dmax < 0.0) {
			if (callback && callback->sep_axis)
				*callback->sep_axis=axis;
#ifdef DEBUG_ENABLED
			best_axis_count++;
#endif

			return false; // doesn't contain 0
		}

		//use the smallest depth

		dmin = Math::abs(dmin);

		if ( dmax < dmin ) {
			if ( dmax < best_depth ) {
				best_depth=dmax;
				best_axis=axis;
#ifdef DEBUG_ENABLED
				best_axis_index=best_axis_count;
#endif

			}
		} else {
			if ( dmin < best_depth ) {
				best_depth=dmin;
				best_axis=-axis; // keep it as A axis
#ifdef DEBUG_ENABLED
				best_axis_index=best_axis_count;
#endif
			}
		}

	//	print_line("test axis: "+p_axis+" depth: "+rtos(best_depth));
#ifdef DEBUG_ENABLED
		best_axis_count++;
#endif

		return true;
	}


	_FORCE_INLINE_ void generate_contacts() {

		// nothing to do, don't generate
		if (best_axis==Vector2(0.0,0.0))
			return;

		callback->collided=true;

		if (!callback->callback)
			return; //only collide, no callback
		static const int max_supports=2;

		Vector2 supports_A[max_supports];
		int support_count_A;
		if (castA) {
			shape_A->get_supports_transformed_cast(motion_A,-best_axis,*transform_A,supports_A,support_count_A);
		} else {
			shape_A->get_supports(transform_A->basis_xform_inv(-best_axis).normalized(),supports_A,support_count_A);
			for(int i=0;i<support_count_A;i++) {
				supports_A[i] = transform_A->xform(supports_A[i]);
			}
		}

		if (withMargin) {

			for(int i=0;i<support_count_A;i++) {
				supports_A[i]+=-best_axis*margin_A;
			}

		}



		Vector2 supports_B[max_supports];
		int support_count_B;
		if (castB) {
			shape_B->get_supports_transformed_cast(motion_B,best_axis,*transform_B,supports_B,support_count_B);
		} else {
			shape_B->get_supports(transform_B->basis_xform_inv(best_axis).normalized(),supports_B,support_count_B);
			for(int i=0;i<support_count_B;i++) {
				supports_B[i] = transform_B->xform(supports_B[i]);
			}
		}

		if (withMargin) {

			for(int i=0;i<support_count_B;i++) {
				supports_B[i]+=best_axis*margin_B;
			}

		}

/*


		print_line("**************************");
		printf("CBK: %p\n",callback->userdata);
		print_line("type A: "+itos(shape_A->get_type()));
		print_line("type B: "+itos(shape_B->get_type()));
		print_line("xform A: "+*transform_A);
		print_line("xform B: "+*transform_B);
		print_line("normal: "+best_axis);
		print_line("depth: "+rtos(best_depth));
		print_line("index: "+itos(best_axis_index));

		for(int i=0;i<support_count_A;i++) {

			print_line("A-"+itos(i)+": "+supports_A[i]);
		}

		for(int i=0;i<support_count_B;i++) {

			print_line("B-"+itos(i)+": "+supports_B[i]);
		}
//*/




		callback->normal=best_axis;
		_generate_contacts_from_supports(supports_A,support_count_A,supports_B,support_count_B,callback);

		if (callback && callback->sep_axis && *callback->sep_axis!=Vector2())
			*callback->sep_axis=Vector2(); //invalidate previous axis (no test)
		//CollisionSolver2DSW::CallbackResult cbk=NULL;
		//cbk(Vector2(),Vector2(),NULL);

	}

	_FORCE_INLINE_ SeparatorAxisTest2D(const ShapeA *p_shape_A,const Matrix32& p_transform_a, const ShapeB *p_shape_B,const Matrix32& p_transform_b,_CollectorCallback2D *p_collector,const Vector2& p_motion_A=Vector2(), const Vector2& p_motion_B=Vector2(),real_t p_margin_A=0,real_t p_margin_B=0) {

		margin_A=p_margin_A;
		margin_B=p_margin_B;
		best_depth=1e15;
		shape_A=p_shape_A;
		shape_B=p_shape_B;
		transform_A=&p_transform_a;
		transform_B=&p_transform_b;
		motion_A=p_motion_A;
		motion_B=p_motion_B;

		callback=p_collector;
#ifdef DEBUG_ENABLED
		best_axis_count=0;
		best_axis_index=-1;
#endif
	}

};

/****** SAT TESTS *******/
/****** SAT TESTS *******/
/****** SAT TESTS *******/
/****** SAT TESTS *******/


#define TEST_POINT(m_a,m_b) \
	 (	(!separator.test_axis(((m_a)-(m_b)).normalized())) ||\
		(castA && !separator.test_axis(((m_a)+p_motion_a-(m_b)).normalized())) ||\
		(castB && !separator.test_axis(((m_a)-((m_b)+p_motion_b)).normalized())) ||\
		(castA && castB && !separator.test_axis(((m_a)+p_motion_a-((m_b)+p_motion_b)).normalized())) )


typedef void (*CollisionFunc)(const Shape2DSW*,const Matrix32&,const Shape2DSW*,const Matrix32&,_CollectorCallback2D *p_collector,const Vector2&,const Vector2&,float,float);


template<bool castA, bool castB,bool withMargin>
static void _collision_segment_segment(const Shape2DSW* p_a,const Matrix32& p_transform_a,const Shape2DSW* p_b,const Matrix32& p_transform_b,_CollectorCallback2D *p_collector,const Vector2& p_motion_a,const Vector2& p_motion_b,float p_margin_A,float p_margin_B) {

	const SegmentShape2DSW *segment_A = static_cast<const SegmentShape2DSW*>(p_a);
	const SegmentShape2DSW *segment_B = static_cast<const SegmentShape2DSW*>(p_b);

	SeparatorAxisTest2D<SegmentShape2DSW,SegmentShape2DSW,castA,castB,withMargin> separator(segment_A,p_transform_a,segment_B,p_transform_b,p_collector,p_motion_a,p_motion_b,p_margin_A,p_margin_B);

	if (!separator.test_previous_axis())
		return;
	//this collision is kind of pointless


	//if (!separator.test_previous_axis())
	//	return;

	if (!separator.test_cast())
		return;


	if (!separator.test_axis(segment_A->get_xformed_normal(p_transform_a)))
		return;
	if (!separator.test_axis(segment_B->get_xformed_normal(p_transform_b)))
		return;

	if (withMargin) {
		//points grow to circles


		if (TEST_POINT( p_transform_a.xform(segment_A->get_a()),p_transform_b.xform(segment_B->get_a())) )
			return;
		if (TEST_POINT( p_transform_a.xform(segment_A->get_a()),p_transform_b.xform(segment_B->get_b())) )
			return;
		if (TEST_POINT( p_transform_a.xform(segment_A->get_b()),p_transform_b.xform(segment_B->get_a())) )
			return;
		if (TEST_POINT( p_transform_a.xform(segment_A->get_b()),p_transform_b.xform(segment_B->get_b())) )
			return;
	}

	separator.generate_contacts();

}

template<bool castA, bool castB,bool withMargin>
static void _collision_segment_circle(const Shape2DSW* p_a,const Matrix32& p_transform_a,const Shape2DSW* p_b,const Matrix32& p_transform_b,_CollectorCallback2D *p_collector,const Vector2& p_motion_a,const Vector2& p_motion_b,float p_margin_A,float p_margin_B) {


	const SegmentShape2DSW *segment_A = static_cast<const SegmentShape2DSW*>(p_a);
	const CircleShape2DSW *circle_B = static_cast<const CircleShape2DSW*>(p_b);


	SeparatorAxisTest2D<SegmentShape2DSW,CircleShape2DSW,castA,castB,withMargin> separator(segment_A,p_transform_a,circle_B,p_transform_b,p_collector,p_motion_a,p_motion_b,p_margin_A,p_margin_B);

	if (!separator.test_previous_axis())
		return;

	if (!separator.test_cast())
		return;

	//segment normal
	if (!separator.test_axis(
				(p_transform_a.xform(segment_A->get_b())-p_transform_a.xform(segment_A->get_a())).normalized().tangent()
				))
		return;

	//endpoint a vs circle
	if (TEST_POINT(p_transform_a.xform(segment_A->get_a()),p_transform_b.get_origin()))
		return;
	//endpoint b vs circle
	if (TEST_POINT(p_transform_a.xform(segment_A->get_b()),p_transform_b.get_origin()))
		return;


	separator.generate_contacts();
}

template<bool castA, bool castB,bool withMargin>
static void _collision_segment_rectangle(const Shape2DSW* p_a,const Matrix32& p_transform_a,const Shape2DSW* p_b,const Matrix32& p_transform_b,_CollectorCallback2D *p_collector,const Vector2& p_motion_a,const Vector2& p_motion_b,float p_margin_A,float p_margin_B) {

	const SegmentShape2DSW *segment_A = static_cast<const SegmentShape2DSW*>(p_a);
	const RectangleShape2DSW *rectangle_B = static_cast<const RectangleShape2DSW*>(p_b);

	SeparatorAxisTest2D<SegmentShape2DSW,RectangleShape2DSW,castA,castB,withMargin> separator(segment_A,p_transform_a,rectangle_B,p_transform_b,p_collector,p_motion_a,p_motion_b,p_margin_A,p_margin_B);

	if (!separator.test_previous_axis())
		return;

	if (!separator.test_cast())
		return;

	if (!separator.test_axis(segment_A->get_xformed_normal(p_transform_a)))
		return;

	if (!separator.test_axis(p_transform_b.elements[0].normalized()))
		return;

	if (!separator.test_axis(p_transform_b.elements[1].normalized()))
		return;

	if (withMargin) {

		Matrix32 inv = p_transform_b.affine_inverse();

		Vector2 a = p_transform_a.xform(segment_A->get_a());
		Vector2 b = p_transform_a.xform(segment_A->get_b());

		if (!separator.test_axis( rectangle_B->get_circle_axis(p_transform_b,inv,a)))
			return;
		if (!separator.test_axis( rectangle_B->get_circle_axis(p_transform_b,inv,b)))
			return;

		if (castA) {

			if (!separator.test_axis( rectangle_B->get_circle_axis(p_transform_b,inv,a+p_motion_a)))
				return;
			if (!separator.test_axis( rectangle_B->get_circle_axis(p_transform_b,inv,b+p_motion_a)))
				return;
		}

		if (castB) {

			if (!separator.test_axis( rectangle_B->get_circle_axis(p_transform_b,inv,a-p_motion_b)))
				return;
			if (!separator.test_axis( rectangle_B->get_circle_axis(p_transform_b,inv,b-p_motion_b)))
				return;
		}

		if (castA && castB) {

			if (!separator.test_axis( rectangle_B->get_circle_axis(p_transform_b,inv,a-p_motion_b+p_motion_a)))
				return;
			if (!separator.test_axis( rectangle_B->get_circle_axis(p_transform_b,inv,b-p_motion_b+p_motion_a)))
				return;
		}

	}

	separator.generate_contacts();

}

template<bool castA, bool castB,bool withMargin>
static void _collision_segment_capsule(const Shape2DSW* p_a,const Matrix32& p_transform_a,const Shape2DSW* p_b,const Matrix32& p_transform_b,_CollectorCallback2D *p_collector,const Vector2& p_motion_a,const Vector2& p_motion_b,float p_margin_A,float p_margin_B) {

	const SegmentShape2DSW *segment_A = static_cast<const SegmentShape2DSW*>(p_a);
	const CapsuleShape2DSW *capsule_B = static_cast<const CapsuleShape2DSW*>(p_b);

	SeparatorAxisTest2D<SegmentShape2DSW,CapsuleShape2DSW,castA,castB,withMargin> separator(segment_A,p_transform_a,capsule_B,p_transform_b,p_collector,p_motion_a,p_motion_b,p_margin_A,p_margin_B);

	if (!separator.test_previous_axis())
		return;

	if (!separator.test_cast())
		return;

	if (!separator.test_axis(segment_A->get_xformed_normal(p_transform_a)))
		return;

	if (!separator.test_axis(p_transform_b.elements[0].normalized()))
		return;

	if (TEST_POINT(p_transform_a.xform(segment_A->get_a()),(p_transform_b.get_origin()+p_transform_b.elements[1]*capsule_B->get_height()*0.5)))
		return;
	if (TEST_POINT(p_transform_a.xform(segment_A->get_a()),(p_transform_b.get_origin()+p_transform_b.elements[1]*capsule_B->get_height()*-0.5)))
		return;
	if (TEST_POINT(p_transform_a.xform(segment_A->get_b()),(p_transform_b.get_origin()+p_transform_b.elements[1]*capsule_B->get_height()*0.5)))
		return;
	if (TEST_POINT(p_transform_a.xform(segment_A->get_b()),(p_transform_b.get_origin()+p_transform_b.elements[1]*capsule_B->get_height()*-0.5)))
		return;

	separator.generate_contacts();
}

template<bool castA, bool castB,bool withMargin>
static void _collision_segment_convex_polygon(const Shape2DSW* p_a,const Matrix32& p_transform_a,const Shape2DSW* p_b,const Matrix32& p_transform_b,_CollectorCallback2D *p_collector,const Vector2& p_motion_a,const Vector2& p_motion_b,float p_margin_A,float p_margin_B) {

	const SegmentShape2DSW *segment_A = static_cast<const SegmentShape2DSW*>(p_a);
	const ConvexPolygonShape2DSW *convex_B = static_cast<const ConvexPolygonShape2DSW*>(p_b);

	SeparatorAxisTest2D<SegmentShape2DSW,ConvexPolygonShape2DSW,castA,castB,withMargin> separator(segment_A,p_transform_a,convex_B,p_transform_b,p_collector,p_motion_a,p_motion_b,p_margin_A,p_margin_B);

	if (!separator.test_previous_axis())
		return;

	if (!separator.test_cast())
		return;

	if (!separator.test_axis(segment_A->get_xformed_normal(p_transform_a)))
		return;

	for(int i=0;i<convex_B->get_point_count();i++) {

		if (!separator.test_axis( convex_B->get_xformed_segment_normal(p_transform_b,i)))
			return;

		if (withMargin) {

			if (TEST_POINT(p_transform_a.xform(segment_A->get_a()),p_transform_b.xform(convex_B->get_point(i) )))
				return;
			if (TEST_POINT(p_transform_a.xform(segment_A->get_b()),p_transform_b.xform(convex_B->get_point(i) )))
				return;

		}

	}

	separator.generate_contacts();

}


/////////

template<bool castA, bool castB,bool withMargin>
static void _collision_circle_circle(const Shape2DSW* p_a,const Matrix32& p_transform_a,const Shape2DSW* p_b,const Matrix32& p_transform_b,_CollectorCallback2D *p_collector,const Vector2& p_motion_a,const Vector2& p_motion_b,float p_margin_A,float p_margin_B) {

	const CircleShape2DSW *circle_A = static_cast<const CircleShape2DSW*>(p_a);
	const CircleShape2DSW *circle_B = static_cast<const CircleShape2DSW*>(p_b);


	SeparatorAxisTest2D<CircleShape2DSW,CircleShape2DSW,castA,castB,withMargin> separator(circle_A,p_transform_a,circle_B,p_transform_b,p_collector,p_motion_a,p_motion_b,p_margin_A,p_margin_B);

	if (!separator.test_previous_axis())
		return;

	if (!separator.test_cast())
		return;

	if (TEST_POINT(p_transform_a.get_origin(),p_transform_b.get_origin()))
		return;


	separator.generate_contacts();

}

template<bool castA, bool castB,bool withMargin>
static void _collision_circle_rectangle(const Shape2DSW* p_a,const Matrix32& p_transform_a,const Shape2DSW* p_b,const Matrix32& p_transform_b,_CollectorCallback2D *p_collector,const Vector2& p_motion_a,const Vector2& p_motion_b,float p_margin_A,float p_margin_B) {

	const CircleShape2DSW *circle_A = static_cast<const CircleShape2DSW*>(p_a);
	const RectangleShape2DSW *rectangle_B = static_cast<const RectangleShape2DSW*>(p_b);


	SeparatorAxisTest2D<CircleShape2DSW,RectangleShape2DSW,castA,castB,withMargin> separator(circle_A,p_transform_a,rectangle_B,p_transform_b,p_collector,p_motion_a,p_motion_b,p_margin_A,p_margin_B);

	if (!separator.test_previous_axis())
		return;

	if (!separator.test_cast())
		return;

	const Vector2 &sphere=p_transform_a.elements[2];
	const Vector2 *axis=&p_transform_b.elements[0];
//	const Vector2& half_extents = rectangle_B->get_half_extents();

	if (!separator.test_axis(axis[0].normalized()))
		return;

	if (!separator.test_axis(axis[1].normalized()))
		return;

	Matrix32 binv = p_transform_b.affine_inverse();
	{

		if (!separator.test_axis( rectangle_B->get_circle_axis(p_transform_b,binv,sphere ) ) )
			return;
	}

	if (castA) {

		Vector2 sphereofs = sphere + p_motion_a;
		if (!separator.test_axis( rectangle_B->get_circle_axis(p_transform_b,binv, sphereofs) ) )
			return;
	}

	if (castB) {

		Vector2 sphereofs = sphere - p_motion_b;
		if (!separator.test_axis( rectangle_B->get_circle_axis(p_transform_b,binv, sphereofs) ) )
			return;
	}

	if (castA && castB) {

		Vector2 sphereofs = sphere - p_motion_b + p_motion_a;
		if (!separator.test_axis( rectangle_B->get_circle_axis(p_transform_b,binv, sphereofs) ) )
			return;
	}

	separator.generate_contacts();
}

template<bool castA, bool castB,bool withMargin>
static void _collision_circle_capsule(const Shape2DSW* p_a,const Matrix32& p_transform_a,const Shape2DSW* p_b,const Matrix32& p_transform_b,_CollectorCallback2D *p_collector,const Vector2& p_motion_a,const Vector2& p_motion_b,float p_margin_A,float p_margin_B) {

	const CircleShape2DSW *circle_A = static_cast<const CircleShape2DSW*>(p_a);
	const CapsuleShape2DSW *capsule_B = static_cast<const CapsuleShape2DSW*>(p_b);


	SeparatorAxisTest2D<CircleShape2DSW,CapsuleShape2DSW,castA,castB,withMargin> separator(circle_A,p_transform_a,capsule_B,p_transform_b,p_collector,p_motion_a,p_motion_b,p_margin_A,p_margin_B);

	if (!separator.test_previous_axis())
		return;

	if (!separator.test_cast())
		return;

	//capsule axis
	if (!separator.test_axis(p_transform_b.elements[0].normalized()))
		return;

	//capsule endpoints
	if (TEST_POINT(p_transform_a.get_origin(),(p_transform_b.get_origin()+p_transform_b.elements[1]*capsule_B->get_height()*0.5)))
		return;
	if (TEST_POINT(p_transform_a.get_origin(),(p_transform_b.get_origin()+p_transform_b.elements[1]*capsule_B->get_height()*-0.5)))
		return;

	separator.generate_contacts();


}

template<bool castA, bool castB,bool withMargin>
static void _collision_circle_convex_polygon(const Shape2DSW* p_a,const Matrix32& p_transform_a,const Shape2DSW* p_b,const Matrix32& p_transform_b,_CollectorCallback2D *p_collector,const Vector2& p_motion_a,const Vector2& p_motion_b,float p_margin_A,float p_margin_B) {

	const CircleShape2DSW *circle_A = static_cast<const CircleShape2DSW*>(p_a);
	const ConvexPolygonShape2DSW *convex_B = static_cast<const ConvexPolygonShape2DSW*>(p_b);


	SeparatorAxisTest2D<CircleShape2DSW,ConvexPolygonShape2DSW,castA,castB,withMargin> separator(circle_A,p_transform_a,convex_B,p_transform_b,p_collector,p_motion_a,p_motion_b,p_margin_A,p_margin_B);

	if (!separator.test_previous_axis())
		return;

	if (!separator.test_cast())
		return;


	//poly faces and poly points vs circle
	for(int i=0;i<convex_B->get_point_count();i++) {

		if (TEST_POINT( p_transform_a.get_origin(),p_transform_b.xform(convex_B->get_point(i)) ))
			return;

		if (!separator.test_axis( convex_B->get_xformed_segment_normal(p_transform_b,i)))
			return;
	}

	separator.generate_contacts();
}


/////////

template<bool castA, bool castB,bool withMargin>
static void _collision_rectangle_rectangle(const Shape2DSW* p_a,const Matrix32& p_transform_a,const Shape2DSW* p_b,const Matrix32& p_transform_b,_CollectorCallback2D *p_collector,const Vector2& p_motion_a,const Vector2& p_motion_b,float p_margin_A,float p_margin_B) {

	const RectangleShape2DSW *rectangle_A = static_cast<const RectangleShape2DSW*>(p_a);
	const RectangleShape2DSW *rectangle_B = static_cast<const RectangleShape2DSW*>(p_b);


	SeparatorAxisTest2D<RectangleShape2DSW,RectangleShape2DSW,castA,castB,withMargin> separator(rectangle_A,p_transform_a,rectangle_B,p_transform_b,p_collector,p_motion_a,p_motion_b,p_margin_A,p_margin_B);

	if (!separator.test_previous_axis())
		return;

	if (!separator.test_cast())
		return;

	//box faces A
	if (!separator.test_axis(p_transform_a.elements[0].normalized()))
		return;

	if (!separator.test_axis(p_transform_a.elements[1].normalized()))
		return;

	//box faces B
	if (!separator.test_axis(p_transform_b.elements[0].normalized()))
		return;

	if (!separator.test_axis(p_transform_b.elements[1].normalized()))
		return;

	if (withMargin) {

		Matrix32 invA=p_transform_a.affine_inverse();
		Matrix32 invB=p_transform_b.affine_inverse();

		if (!separator.test_axis( rectangle_A->get_box_axis(p_transform_a,invA,rectangle_B,p_transform_b,invB) ) )
			return;

		if (castA || castB) {

			Matrix32 aofs = p_transform_a;
			aofs.elements[2]+=p_motion_a;

			Matrix32 bofs = p_transform_b;
			bofs.elements[2]+=p_motion_b;

			Matrix32 aofsinv = aofs.affine_inverse();
			Matrix32 bofsinv = bofs.affine_inverse();

			if (castA) {

				if (!separator.test_axis( rectangle_A->get_box_axis(aofs,aofsinv,rectangle_B,p_transform_b,invB) ) )
					return;
			}

			if (castB) {

				if (!separator.test_axis( rectangle_A->get_box_axis(p_transform_a,invA,rectangle_B,bofs,bofsinv) ) )
					return;
			}

			if (castA && castB) {

				if (!separator.test_axis( rectangle_A->get_box_axis(aofs,aofsinv,rectangle_B,bofs,bofsinv) ) )
					return;
			}
		}
	}

	separator.generate_contacts();
}

template<bool castA, bool castB,bool withMargin>
static void _collision_rectangle_capsule(const Shape2DSW* p_a,const Matrix32& p_transform_a,const Shape2DSW* p_b,const Matrix32& p_transform_b,_CollectorCallback2D *p_collector,const Vector2& p_motion_a,const Vector2& p_motion_b,float p_margin_A,float p_margin_B) {

	const RectangleShape2DSW *rectangle_A = static_cast<const RectangleShape2DSW*>(p_a);
	const CapsuleShape2DSW *capsule_B = static_cast<const CapsuleShape2DSW*>(p_b);


	SeparatorAxisTest2D<RectangleShape2DSW,CapsuleShape2DSW,castA,castB,withMargin> separator(rectangle_A,p_transform_a,capsule_B,p_transform_b,p_collector,p_motion_a,p_motion_b,p_margin_A,p_margin_B);

	if (!separator.test_previous_axis())
		return;

	if (!separator.test_cast())
		return;

	//box faces
	if (!separator.test_axis(p_transform_a.elements[0].normalized()))
		return;

	if (!separator.test_axis(p_transform_a.elements[1].normalized()))
		return;

	//capsule axis
	if (!separator.test_axis(p_transform_b.elements[0].normalized()))
		return;


	//box endpoints to capsule circles

	Matrix32 boxinv = p_transform_a.affine_inverse();

	for(int i=0;i<2;i++) {

		{
			Vector2 capsule_endpoint = p_transform_b.get_origin()+p_transform_b.elements[1]*capsule_B->get_height()*(i==0?0.5:-0.5);

			if (!separator.test_axis(rectangle_A->get_circle_axis(p_transform_a,boxinv,capsule_endpoint)))
				return;
		}


		if (castA) {
			Vector2 capsule_endpoint = p_transform_b.get_origin()+p_transform_b.elements[1]*capsule_B->get_height()*(i==0?0.5:-0.5);
			capsule_endpoint-=p_motion_a;

			if (!separator.test_axis(rectangle_A->get_circle_axis(p_transform_a,boxinv,capsule_endpoint)))
				return;
		}

		if (castB) {
			Vector2 capsule_endpoint = p_transform_b.get_origin()+p_transform_b.elements[1]*capsule_B->get_height()*(i==0?0.5:-0.5);
			capsule_endpoint+=p_motion_b;

			if (!separator.test_axis(rectangle_A->get_circle_axis(p_transform_a,boxinv,capsule_endpoint)))
				return;
		}

		if (castA && castB) {
			Vector2 capsule_endpoint = p_transform_b.get_origin()+p_transform_b.elements[1]*capsule_B->get_height()*(i==0?0.5:-0.5);
			capsule_endpoint-=p_motion_a;
			capsule_endpoint+=p_motion_b;


			if (!separator.test_axis(rectangle_A->get_circle_axis(p_transform_a,boxinv,capsule_endpoint)))
				return;
		}

	}


	separator.generate_contacts();
}

template<bool castA, bool castB,bool withMargin>
static void _collision_rectangle_convex_polygon(const Shape2DSW* p_a,const Matrix32& p_transform_a,const Shape2DSW* p_b,const Matrix32& p_transform_b,_CollectorCallback2D *p_collector,const Vector2& p_motion_a,const Vector2& p_motion_b,float p_margin_A,float p_margin_B) {

	const RectangleShape2DSW *rectangle_A = static_cast<const RectangleShape2DSW*>(p_a);
	const ConvexPolygonShape2DSW *convex_B = static_cast<const ConvexPolygonShape2DSW*>(p_b);

	SeparatorAxisTest2D<RectangleShape2DSW,ConvexPolygonShape2DSW,castA,castB,withMargin> separator(rectangle_A,p_transform_a,convex_B,p_transform_b,p_collector,p_motion_a,p_motion_b,p_margin_A,p_margin_B);


	if (!separator.test_previous_axis())
		return;

	if (!separator.test_cast())
		return;

	//box faces
	if (!separator.test_axis(p_transform_a.elements[0].normalized()))
		return;

	if (!separator.test_axis(p_transform_a.elements[1].normalized()))
		return;

	//convex faces
	Matrix32 boxinv;
	if (withMargin) {
		boxinv=p_transform_a.affine_inverse();
	}
	for(int i=0;i<convex_B->get_point_count();i++) {

		if (!separator.test_axis( convex_B->get_xformed_segment_normal(p_transform_b,i)))
			return;

		if (withMargin) {
			//all points vs all points need to be tested if margin exist
			if (!separator.test_axis(rectangle_A->get_circle_axis(p_transform_a,boxinv,p_transform_b.xform(convex_B->get_point(i)))))
				return;
			if (castA) {

				if (!separator.test_axis(rectangle_A->get_circle_axis(p_transform_a,boxinv,p_transform_b.xform(convex_B->get_point(i))-p_motion_a)))
					return;
			}
			if (castB) {

				if (!separator.test_axis(rectangle_A->get_circle_axis(p_transform_a,boxinv,p_transform_b.xform(convex_B->get_point(i))+p_motion_b)))
					return;
			}
			if (castA && castB) {

				if (!separator.test_axis(rectangle_A->get_circle_axis(p_transform_a,boxinv,p_transform_b.xform(convex_B->get_point(i))+p_motion_b-p_motion_a)))
					return;
			}

		}
	}

	separator.generate_contacts();

}


/////////

template<bool castA, bool castB,bool withMargin>
static void _collision_capsule_capsule(const Shape2DSW* p_a,const Matrix32& p_transform_a,const Shape2DSW* p_b,const Matrix32& p_transform_b,_CollectorCallback2D *p_collector,const Vector2& p_motion_a,const Vector2& p_motion_b,float p_margin_A,float p_margin_B) {

	const CapsuleShape2DSW *capsule_A = static_cast<const CapsuleShape2DSW*>(p_a);
	const CapsuleShape2DSW *capsule_B = static_cast<const CapsuleShape2DSW*>(p_b);


	SeparatorAxisTest2D<CapsuleShape2DSW,CapsuleShape2DSW,castA,castB,withMargin> separator(capsule_A,p_transform_a,capsule_B,p_transform_b,p_collector,p_motion_a,p_motion_b,p_margin_A,p_margin_B);

	if (!separator.test_previous_axis())
		return;

	if (!separator.test_cast())
		return;

	//capsule axis

	if (!separator.test_axis(p_transform_b.elements[0].normalized()))
		return;

	if (!separator.test_axis(p_transform_a.elements[0].normalized()))
		return;

	//capsule endpoints

	for(int i=0;i<2;i++) {

		Vector2 capsule_endpoint_A = p_transform_a.get_origin()+p_transform_a.elements[1]*capsule_A->get_height()*(i==0?0.5:-0.5);

		for(int j=0;j<2;j++) {

			Vector2 capsule_endpoint_B = p_transform_b.get_origin()+p_transform_b.elements[1]*capsule_B->get_height()*(j==0?0.5:-0.5);

			if (TEST_POINT(capsule_endpoint_A,capsule_endpoint_B) )
				return;

		}
	}

	separator.generate_contacts();

}

template<bool castA, bool castB,bool withMargin>
static void _collision_capsule_convex_polygon(const Shape2DSW* p_a,const Matrix32& p_transform_a,const Shape2DSW* p_b,const Matrix32& p_transform_b,_CollectorCallback2D *p_collector,const Vector2& p_motion_a,const Vector2& p_motion_b,float p_margin_A,float p_margin_B) {

	const CapsuleShape2DSW *capsule_A = static_cast<const CapsuleShape2DSW*>(p_a);
	const ConvexPolygonShape2DSW *convex_B = static_cast<const ConvexPolygonShape2DSW*>(p_b);


	SeparatorAxisTest2D<CapsuleShape2DSW,ConvexPolygonShape2DSW,castA,castB,withMargin> separator(capsule_A,p_transform_a,convex_B,p_transform_b,p_collector,p_motion_a,p_motion_b,p_margin_A,p_margin_B);

	if (!separator.test_previous_axis())
		return;

	if (!separator.test_cast())
		return;

	//capsule axis

	if (!separator.test_axis(p_transform_a.elements[0].normalized()))
		return;


	//poly vs capsule
	for(int i=0;i<convex_B->get_point_count();i++) {

		Vector2 cpoint = p_transform_b.xform(convex_B->get_point(i));

		for(int j=0;j<2;j++) {

			Vector2 capsule_endpoint_A = p_transform_a.get_origin()+p_transform_a.elements[1]*capsule_A->get_height()*(j==0?0.5:-0.5);

			if (TEST_POINT(capsule_endpoint_A,cpoint ))
				return;

		}

		if (!separator.test_axis( convex_B->get_xformed_segment_normal(p_transform_b,i)))
			return;
	}

	separator.generate_contacts();
}


/////////


template<bool castA, bool castB,bool withMargin>
static void _collision_convex_polygon_convex_polygon(const Shape2DSW* p_a,const Matrix32& p_transform_a,const Shape2DSW* p_b,const Matrix32& p_transform_b,_CollectorCallback2D *p_collector,const Vector2& p_motion_a,const Vector2& p_motion_b,float p_margin_A,float p_margin_B) {


	const ConvexPolygonShape2DSW *convex_A = static_cast<const ConvexPolygonShape2DSW*>(p_a);
	const ConvexPolygonShape2DSW *convex_B = static_cast<const ConvexPolygonShape2DSW*>(p_b);

	SeparatorAxisTest2D<ConvexPolygonShape2DSW,ConvexPolygonShape2DSW,castA,castB,withMargin> separator(convex_A,p_transform_a,convex_B,p_transform_b,p_collector,p_motion_a,p_motion_b,p_margin_A,p_margin_B);

	if (!separator.test_previous_axis())
		return;

	if (!separator.test_cast())
		return;


	for(int i=0;i<convex_A->get_point_count();i++) {

		if (!separator.test_axis( convex_A->get_xformed_segment_normal(p_transform_a,i)))
			return;
	}

	for(int i=0;i<convex_B->get_point_count();i++) {

		if (!separator.test_axis( convex_B->get_xformed_segment_normal(p_transform_b,i)))
			return;

	}

	if (withMargin) {

		for(int i=0;i<convex_A->get_point_count();i++) {
			for(int j=0;j<convex_B->get_point_count();j++) {

				if (TEST_POINT(p_transform_a.xform(convex_A->get_point(i)) , p_transform_b.xform(convex_B->get_point(j))))
					return;
			}
		}

	}

	separator.generate_contacts();

}


////////

bool sat_2d_calculate_penetration(const Shape2DSW *p_shape_A, const Matrix32& p_transform_A, const Vector2& p_motion_A, const Shape2DSW *p_shape_B, const Matrix32& p_transform_B,const Vector2& p_motion_B, CollisionSolver2DSW::CallbackResult p_result_callback,void *p_userdata, bool p_swap,Vector2 *sep_axis,float p_margin_A,float p_margin_B) {

	Physics2DServer::ShapeType type_A=p_shape_A->get_type();

	ERR_FAIL_COND_V(type_A==Physics2DServer::SHAPE_LINE,false);
	//ERR_FAIL_COND_V(type_A==Physics2DServer::SHAPE_RAY,false);
	ERR_FAIL_COND_V(p_shape_A->is_concave(),false);

	Physics2DServer::ShapeType type_B=p_shape_B->get_type();

	ERR_FAIL_COND_V(type_B==Physics2DServer::SHAPE_LINE,false);
	//ERR_FAIL_COND_V(type_B==Physics2DServer::SHAPE_RAY,false);
	ERR_FAIL_COND_V(p_shape_B->is_concave(),false);


	static const CollisionFunc collision_table[5][5]={
		{_collision_segment_segment<false,false,false>,
		 _collision_segment_circle<false,false,false>,
		 _collision_segment_rectangle<false,false,false>,
		 _collision_segment_capsule<false,false,false>,
		 _collision_segment_convex_polygon<false,false,false>},
		{0,
		 _collision_circle_circle<false,false,false>,
		 _collision_circle_rectangle<false,false,false>,
		 _collision_circle_capsule<false,false,false>,
		 _collision_circle_convex_polygon<false,false,false>},
		{0,
		 0,
		 _collision_rectangle_rectangle<false,false,false>,
		 _collision_rectangle_capsule<false,false,false>,
		 _collision_rectangle_convex_polygon<false,false,false>},
		{0,
		 0,
		 0,
		 _collision_capsule_capsule<false,false,false>,
		 _collision_capsule_convex_polygon<false,false,false>},
		{0,
		 0,
		 0,
		 0,
		 _collision_convex_polygon_convex_polygon<false,false,false>}

	};

	static const CollisionFunc collision_table_castA[5][5]={
		{_collision_segment_segment<true,false,false>,
		 _collision_segment_circle<true,false,false>,
		 _collision_segment_rectangle<true,false,false>,
		 _collision_segment_capsule<true,false,false>,
		 _collision_segment_convex_polygon<true,false,false>},
		{0,
		 _collision_circle_circle<true,false,false>,
		 _collision_circle_rectangle<true,false,false>,
		 _collision_circle_capsule<true,false,false>,
		 _collision_circle_convex_polygon<true,false,false>},
		{0,
		 0,
		 _collision_rectangle_rectangle<true,false,false>,
		 _collision_rectangle_capsule<true,false,false>,
		 _collision_rectangle_convex_polygon<true,false,false>},
		{0,
		 0,
		 0,
		 _collision_capsule_capsule<true,false,false>,
		 _collision_capsule_convex_polygon<true,false,false>},
		{0,
		 0,
		 0,
		 0,
		 _collision_convex_polygon_convex_polygon<true,false,false>}

	};

	static const CollisionFunc collision_table_castB[5][5]={
		{_collision_segment_segment<false,true,false>,
		 _collision_segment_circle<false,true,false>,
		 _collision_segment_rectangle<false,true,false>,
		 _collision_segment_capsule<false,true,false>,
		 _collision_segment_convex_polygon<false,true,false>},
		{0,
		 _collision_circle_circle<false,true,false>,
		 _collision_circle_rectangle<false,true,false>,
		 _collision_circle_capsule<false,true,false>,
		 _collision_circle_convex_polygon<false,true,false>},
		{0,
		 0,
		 _collision_rectangle_rectangle<false,true,false>,
		 _collision_rectangle_capsule<false,true,false>,
		 _collision_rectangle_convex_polygon<false,true,false>},
		{0,
		 0,
		 0,
		 _collision_capsule_capsule<false,true,false>,
		 _collision_capsule_convex_polygon<false,true,false>},
		{0,
		 0,
		 0,
		 0,
		 _collision_convex_polygon_convex_polygon<false,true,false>}

	};

	static const CollisionFunc collision_table_castA_castB[5][5]={
		{_collision_segment_segment<true,true,false>,
		 _collision_segment_circle<true,true,false>,
		 _collision_segment_rectangle<true,true,false>,
		 _collision_segment_capsule<true,true,false>,
		 _collision_segment_convex_polygon<true,true,false>},
		{0,
		 _collision_circle_circle<true,true,false>,
		 _collision_circle_rectangle<true,true,false>,
		 _collision_circle_capsule<true,true,false>,
		 _collision_circle_convex_polygon<true,true,false>},
		{0,
		 0,
		 _collision_rectangle_rectangle<true,true,false>,
		 _collision_rectangle_capsule<true,true,false>,
		 _collision_rectangle_convex_polygon<true,true,false>},
		{0,
		 0,
		 0,
		 _collision_capsule_capsule<true,true,false>,
		 _collision_capsule_convex_polygon<true,true,false>},
		{0,
		 0,
		 0,
		 0,
		 _collision_convex_polygon_convex_polygon<true,true,false>}

	};

	static const CollisionFunc collision_table_margin[5][5]={
		{_collision_segment_segment<false,false,true>,
		 _collision_segment_circle<false,false,true>,
		 _collision_segment_rectangle<false,false,true>,
		 _collision_segment_capsule<false,false,true>,
		 _collision_segment_convex_polygon<false,false,true>},
		{0,
		 _collision_circle_circle<false,false,true>,
		 _collision_circle_rectangle<false,false,true>,
		 _collision_circle_capsule<false,false,true>,
		 _collision_circle_convex_polygon<false,false,true>},
		{0,
		 0,
		 _collision_rectangle_rectangle<false,false,true>,
		 _collision_rectangle_capsule<false,false,true>,
		 _collision_rectangle_convex_polygon<false,false,true>},
		{0,
		 0,
		 0,
		 _collision_capsule_capsule<false,false,true>,
		 _collision_capsule_convex_polygon<false,false,true>},
		{0,
		 0,
		 0,
		 0,
		 _collision_convex_polygon_convex_polygon<false,false,true>}

	};

	static const CollisionFunc collision_table_castA_margin[5][5]={
		{_collision_segment_segment<true,false,true>,
		 _collision_segment_circle<true,false,true>,
		 _collision_segment_rectangle<true,false,true>,
		 _collision_segment_capsule<true,false,true>,
		 _collision_segment_convex_polygon<true,false,true>},
		{0,
		 _collision_circle_circle<true,false,true>,
		 _collision_circle_rectangle<true,false,true>,
		 _collision_circle_capsule<true,false,true>,
		 _collision_circle_convex_polygon<true,false,true>},
		{0,
		 0,
		 _collision_rectangle_rectangle<true,false,true>,
		 _collision_rectangle_capsule<true,false,true>,
		 _collision_rectangle_convex_polygon<true,false,true>},
		{0,
		 0,
		 0,
		 _collision_capsule_capsule<true,false,true>,
		 _collision_capsule_convex_polygon<true,false,true>},
		{0,
		 0,
		 0,
		 0,
		 _collision_convex_polygon_convex_polygon<true,false,true>}

	};

	static const CollisionFunc collision_table_castB_margin[5][5]={
		{_collision_segment_segment<false,true,true>,
		 _collision_segment_circle<false,true,true>,
		 _collision_segment_rectangle<false,true,true>,
		 _collision_segment_capsule<false,true,true>,
		 _collision_segment_convex_polygon<false,true,true>},
		{0,
		 _collision_circle_circle<false,true,true>,
		 _collision_circle_rectangle<false,true,true>,
		 _collision_circle_capsule<false,true,true>,
		 _collision_circle_convex_polygon<false,true,true>},
		{0,
		 0,
		 _collision_rectangle_rectangle<false,true,true>,
		 _collision_rectangle_capsule<false,true,true>,
		 _collision_rectangle_convex_polygon<false,true,true>},
		{0,
		 0,
		 0,
		 _collision_capsule_capsule<false,true,true>,
		 _collision_capsule_convex_polygon<false,true,true>},
		{0,
		 0,
		 0,
		 0,
		 _collision_convex_polygon_convex_polygon<false,true,true>}

	};

	static const CollisionFunc collision_table_castA_castB_margin[5][5]={
		{_collision_segment_segment<true,true,true>,
		 _collision_segment_circle<true,true,true>,
		 _collision_segment_rectangle<true,true,true>,
		 _collision_segment_capsule<true,true,true>,
		 _collision_segment_convex_polygon<true,true,true>},
		{0,
		 _collision_circle_circle<true,true,true>,
		 _collision_circle_rectangle<true,true,true>,
		 _collision_circle_capsule<true,true,true>,
		 _collision_circle_convex_polygon<true,true,true>},
		{0,
		 0,
		 _collision_rectangle_rectangle<true,true,true>,
		 _collision_rectangle_capsule<true,true,true>,
		 _collision_rectangle_convex_polygon<true,true,true>},
		{0,
		 0,
		 0,
		 _collision_capsule_capsule<true,true,true>,
		 _collision_capsule_convex_polygon<true,true,true>},
		{0,
		 0,
		 0,
		 0,
		 _collision_convex_polygon_convex_polygon<true,true,true>}

	};


	_CollectorCallback2D callback;
	callback.callback=p_result_callback;
	callback.swap=p_swap;
	callback.userdata=p_userdata;
	callback.collided=false;
	callback.sep_axis=sep_axis;

	const Shape2DSW *A=p_shape_A;
	const Shape2DSW *B=p_shape_B;
	const Matrix32 *transform_A=&p_transform_A;
	const Matrix32 *transform_B=&p_transform_B;
	const Vector2 *motion_A=&p_motion_A;
	const Vector2 *motion_B=&p_motion_B;
	real_t margin_A=p_margin_A,margin_B=p_margin_B;

	if (type_A > type_B) {
		SWAP(A,B);
		SWAP(transform_A,transform_B);
		SWAP(type_A,type_B);
		SWAP(motion_A,motion_B);
		SWAP(margin_A,margin_B);
		callback.swap = !callback.swap;
	}


	CollisionFunc collision_func;

	if (p_margin_A || p_margin_B) {
		if (*motion_A==Vector2() && *motion_B==Vector2()) {
			collision_func = collision_table_margin[type_A-2][type_B-2];
		} else if (*motion_A!=Vector2() &&  *motion_B==Vector2()) {
			collision_func = collision_table_castA_margin[type_A-2][type_B-2];
		} else if (*motion_A==Vector2() && *motion_B!=Vector2()) {
			collision_func = collision_table_castB_margin[type_A-2][type_B-2];
		} else {
			collision_func = collision_table_castA_castB_margin[type_A-2][type_B-2];
		}
	} else {

		if (*motion_A==Vector2() && *motion_B==Vector2()) {
			collision_func = collision_table[type_A-2][type_B-2];
		} else if (*motion_A!=Vector2() &&  *motion_B==Vector2()) {
			collision_func = collision_table_castA[type_A-2][type_B-2];
		} else if (*motion_A==Vector2() && *motion_B!=Vector2()) {
			collision_func = collision_table_castB[type_A-2][type_B-2];
		} else {
			collision_func = collision_table_castA_castB[type_A-2][type_B-2];
		}

	}



	ERR_FAIL_COND_V(!collision_func,false);

	collision_func(A,*transform_A,B,*transform_B,&callback,*motion_A,*motion_B,margin_A,margin_B);

	return callback.collided;


}
